Steering stability control method for in-wheel motor driven vehicle
A stability control and in-wheel motor technology, applied in the field of automobile steering control, can solve the problems of not considering the influence of vehicle speed, broad driving state division conditions, and low precision of steering stability control, so as to achieve accurate calculation, improve steering stability, and improve The effect of control precision
Active Publication Date: 2022-04-29
DONGFENG OFF ROAD VEHICLE CO LTD
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Problems solved by technology
[0005] There are three problems with the above method. First, the influence of vehicle speed is not considered, the conditions for dividing the driving state are broad, and the accuracy of controlling steering stability is insufficient.
The second is the four-wheel torque control without considering the neutral steering condition
Third, it is impossible to calculate and adjust the target driving torque value of each wheel of the in-wheel motor accurately in real time, resulting in low precision of the entire steering stability control
Method used
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[0028] The following specific embodiments are used to further describe the technical solution of the claims of the present invention in detail, so that those skilled in the art can understand the claims more clearly. The protection scope of the present invention is not limited to the following specific examples. The protection scope of the present invention includes the technical solution of the claims of the present invention made by those skilled in the art and is different from the following specific embodiments.
[0029] Such as figure 1 As shown, a steering stability control method for an in-wheel motor driven vehicle, the main control idea is as follows: firstly, the motion parameters of the vehicle are obtained according to the vehicle dynamics observation system, including four-wheel vertical load, yaw rate, center of mass side slip angle and For the longitudinal vehicle speed, the initial value of the driving torque of each wheel is obtained according to the vertical...
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The invention discloses a method for controlling the steering stability of a vehicle driven by an in-wheel motor. The initial value of the driving torque of each wheel is obtained, and the steering stability control mode is divided according to the yaw rate, the side slip angle of the center of mass and the longitudinal vehicle speed. The steering stability control mode includes: For understeer control mode, normal steering control mode and oversteer control mode, determine the torque adjustment amount of each wheel in the corresponding steering stability control mode, and determine the target drive of each wheel according to the initial torque value of each wheel and the torque adjustment amount of each wheel Torque and feedback control of the actual torque of each wheel, so that the actual driving path of each wheel is consistent with the expected driving path. The invention divides the working conditions of the vehicle into eight sections and three control modes, and considers the influence of the longitudinal vehicle speed, so that the division of the control modes is more detailed. The methods for determining the torque adjustment of each wheel in the three control modes are given respectively, the total torque of each wheel is precisely controlled, and the steering stability of each wheel is improved.
Description
technical field [0001] The invention relates to the technical field of automobile steering control, in particular to a method for controlling steering stability of a vehicle driven by an in-wheel motor. Background technique [0002] Compared with traditional vehicles, in-wheel motor-driven vehicles have technical advantages in terms of power configuration, transmission efficiency, handling performance, and energy utilization. Ability to adapt to harsh road conditions. The four wheels of the hub motor have the characteristics of independent drive, which can quickly and accurately adjust the torque of a single wheel. The hub motor drives the vehicle to realize the steering of the vehicle by adjusting the torque or speed of the four wheels, and improve the steering stability of the vehicle. [0003] There are three working conditions in the steering process of the in-wheel motor driven vehicle: understeer, neutral steering and oversteer. If the four-wheel torque control method...
Claims
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IPC IPC(8): B60W30/045
CPCB60W30/045
Inventor 李路付畅黄祖胜王龙李良波
Owner DONGFENG OFF ROAD VEHICLE CO LTD